int32 CHECKING_FEASIBILITY = 0
int32 MOVING_TO_PREGRASP = 1
int32 MOVING_TO_GRASP = 2
int32 CLOSING = 3 
int32 ADJUSTING_GRASP = 4
int32 LIFTING = 5
int32 MOVING_WITH_OBJECT = 6
int32 MOVING_TO_PLACE = 7
int32 PLACING = 8
int32 OPENING = 9
int32 RETREATING = 10
int32 MOVING_WITHOUT_OBJECT = 11
int32 SHAKING = 12
int32 SUCCEEDED = 13
int32 FAILED = 14
int32 ABORTED = 15
int32 HOLDING_OBJECT = 16

int32 phase